1 January 1990 Time-sequential structure and motion estimation without optical flow
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We present a method for recovering structure and motion from a sequence of images which does not require computation of the optical flow. We build on the previously developed "Direct Motion Vision" approach for estimation of structure and motion from two frames. In this formulation structure and motion are obtained directly from the gradient of image brightness which is computed orders of magnitude faster than optical flow. The direct methodology is applied to estimate motion and normal of a planar surface relative to a camera. Using a dynamical model of the camera motion we then show how measurements from an arbitarily long sequence of images can be integrated with the help of an observer/filter to improve the estimate over time. Experimental results on real images are presented.
© (1990) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Joachim Heel and Shahriar Negahdaripour "Time-sequential structure and motion estimation without optical flow", Proc. SPIE 1260, Sensing and Reconstruction of Three-Dimensional Objects and Scenes, (1 January 1990); doi: 10.1117/12.20003; https://doi.org/10.1117/12.20003

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